EP0306768A3 - Method and apparatus for safeguarding vehicles or devices moving in space - Google Patents

Method and apparatus for safeguarding vehicles or devices moving in space Download PDF

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Publication number
EP0306768A3
EP0306768A3 EP88113714A EP88113714A EP0306768A3 EP 0306768 A3 EP0306768 A3 EP 0306768A3 EP 88113714 A EP88113714 A EP 88113714A EP 88113714 A EP88113714 A EP 88113714A EP 0306768 A3 EP0306768 A3 EP 0306768A3
Authority
EP
European Patent Office
Prior art keywords
signal
obstacle
space
vehicle
distance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP88113714A
Other languages
German (de)
French (fr)
Other versions
EP0306768A2 (en
Inventor
Ewald Göbel
Dieter Maurer
Rigobert Opitz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
IBP Pietzsch GmbH
Original Assignee
IBP Pietzsch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by IBP Pietzsch GmbH filed Critical IBP Pietzsch GmbH
Publication of EP0306768A2 publication Critical patent/EP0306768A2/en
Publication of EP0306768A3 publication Critical patent/EP0306768A3/en
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87—Combinations of sonar systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
    • G01S2015/938—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details in the bumper area
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S367/00—Communications, electrical: acoustic wave systems and devices
    • Y10S367/909—Collision avoidance

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

Ein Verfahren und eine Einrichtung zum Sichern eines im Raum beweglichen Fahrzeugs oder Geräts, wie eines Roboters, Staplers, fahrerlosen Transportfahr­ zeuges oder dgl., gegen Kollision, wobei unter Einsatz von Abstandssensoren, insbesondere Ultraschall­ sensoren mit Laufzeitmessung, die Entfernung von einem Hindernis gemessen und bei Unterschreiten von vorgegebenen Schwellenwerten ein Reaktionssignal ausgelöst wird, zeichnen sich durch eine zeitsynchrone Betätigung der Abstandssensoren in einer Verbundschal­ tung aus, die im Falle einer gefährlichen Annäherung des Fahrzeugs an ein Hindernis ein Reaktionssignal in Form eines Geschwindigkeitsreduktionssignals oder eines Stopsignales auslöst. Das Meßsignal kann außerdem zu einem Führungssignal zur aktiven Beeinflussung der Fahrzeugbewegung, z.B. zum Umfahren des Hindernisses oder dgl. verwendet werden. A method and device for backing up a vehicle or device moving in space, like a robot, forklift, driverless transport stuff or the like, against collision, taking under Use of distance sensors, especially ultrasound sensors with transit time measurement, the distance from measured an obstacle and falling below a reaction signal from predetermined threshold values is triggered, are characterized by a time-synchronous Actuation of the distance sensors in a composite scarf tion in the event of a dangerous rapprochement a reaction signal from the vehicle to an obstacle in the form of a speed reduction signal or triggers a stop signal. The measurement signal can also become a guidance signal for active Influencing vehicle movement, e.g. to bypass of the obstacle or the like.

EP88113714A 1987-09-08 1988-08-23 Method and apparatus for safeguarding vehicles or devices moving in space Withdrawn EP0306768A3 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19873730105 DE3730105A1 (en) 1987-09-08 1987-09-08 METHOD AND DEVICE FOR SECURING A VEHICLE OR DEVICE MOVING IN SPACE
DE3730105 1987-09-08

Publications (2)

Publication Number Publication Date
EP0306768A2 EP0306768A2 (en) 1989-03-15
EP0306768A3 true EP0306768A3 (en) 1989-05-24

Family

ID=6335509

Family Applications (1)

Application Number Title Priority Date Filing Date
EP88113714A Withdrawn EP0306768A3 (en) 1987-09-08 1988-08-23 Method and apparatus for safeguarding vehicles or devices moving in space

Country Status (3)

Country Link
US (1) US4920520A (en)
EP (1) EP0306768A3 (en)
DE (1) DE3730105A1 (en)

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CN111002937B (en) * 2019-12-19 2021-11-05 厦门理工学院 AGV (automatic guided vehicle) with anti-collision mechanism and control method thereof
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Also Published As

Publication number Publication date
US4920520A (en) 1990-04-24
DE3730105A1 (en) 1989-03-16
EP0306768A2 (en) 1989-03-15

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